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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &lt;rtabmap/core/rtabmap_core_export.h&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;<a class="code" href="ULogger_8h.html">rtabmap/utilite/ULogger.h</a>&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;<a class="code" href="UMath_8h.html">rtabmap/utilite/UMath.h</a>&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;<a class="code" href="UConversion_8h.html">rtabmap/utilite/UConversion.h</a>&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html"> 56</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Landmark.html">Landmark</a></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06"> 60</a></span> <a class="code hl_function" href="classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06">Landmark</a>() :</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> id_(0),</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> size_(0.0f)</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> {}</div>
</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19"> 72</a></span> <a class="code hl_function" href="classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19">Landmark</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; size, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) :</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> id_(id),</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> size_(size),</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> pose_(pose),</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> covariance_(covariance)</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> {</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(id_&gt;0);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(!pose_.isNull());</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(covariance_.cols == 6 &amp;&amp; covariance_.rows == 6 &amp;&amp; covariance_.type() == CV_64FC1);</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)).c_str());</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)).c_str());</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)).c_str());</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)).c_str());</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)).c_str());</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)).c_str());</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> }</div>
</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> RTABMAP_DEPRECATED <a class="code hl_class" href="classrtabmap_1_1Landmark.html">Landmark</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Landmark.html">~Landmark</a>() {}</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2"> 97</a></span> <span class="keyword">const</span> <span class="keywordtype">int</span> &amp; <a class="code hl_function" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> id_;}</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111"> 99</a></span> <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; <a class="code hl_function" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> size_;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88"> 101</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> pose_;}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0"> 103</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> covariance_;}</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> id_;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">float</span> size_;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> pose_;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> cv::Mat covariance_;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span>};</div>
</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86"> 113</a></span><span class="keyword">typedef</span> std::map&lt;int, Landmark&gt; <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a>;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="foldopen" id="foldopen00115" data-start="{" data-end="}">
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Landmark.html#a92311f7550e395fea804c5438e9085ff"> 115</a></span><span class="keyword">inline</span> <a class="code hl_function" href="classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06">Landmark::Landmark</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) :</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> id_(id),</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> size_(0.0f),</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> pose_(pose),</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> covariance_(covariance)</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(id_&gt;0);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(!pose_.<a class="code hl_function" href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2">isNull</a>());</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(covariance_.cols == 6 &amp;&amp; covariance_.rows == 6 &amp;&amp; covariance_.type() == CV_64FC1);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(0,0)).c_str());</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(1,1)).c_str());</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Linear covariance should not be null! Value=%f.&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(2,2)).c_str());</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(3,3)).c_str());</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(4,4)).c_str());</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)) &amp;&amp; covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)&gt;0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Angular covariance should not be null! Value=%f (set to 9999 if unknown).&quot;</span>, covariance_.at&lt;<span class="keywordtype">double</span>&gt;(5,5)).c_str());</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>}</div>
</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aUConversion_8h_html"><div class="ttname"><a href="UConversion_8h.html">UConversion.h</a></div><div class="ttdoc">Some conversion functions.</div></div>
<div class="ttc" id="aUConversion_8h_html_a59ad5e2b3368d3dd19d73a24159388ce"><div class="ttname"><a href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a></div><div class="ttdeci">std::string UTILITE_EXPORT uFormat(const char *fmt,...)</div></div>
<div class="ttc" id="aULogger_8h_html"><div class="ttname"><a href="ULogger_8h.html">ULogger.h</a></div><div class="ttdoc">ULogger class and convenient macros.</div></div>
<div class="ttc" id="aULogger_8h_html_ab3436168e27946669bbd4c76e4c4007e"><div class="ttname"><a href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a></div><div class="ttdeci">#define UASSERT(condition)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00066">ULogger.h:66</a></div></div>
<div class="ttc" id="aUMath_8h_html"><div class="ttname"><a href="UMath_8h.html">UMath.h</a></div><div class="ttdoc">Basic mathematics functions.</div></div>
<div class="ttc" id="aUMath_8h_html_abc9c1a676bf1b33a7d2bc0452a04fed3"><div class="ttname"><a href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a></div><div class="ttdeci">bool uIsFinite(const T &amp;value)</div><div class="ttdef"><b>Definition</b> <a href="UMath_8h_source.html#l00053">UMath.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html"><div class="ttname"><a href="classrtabmap_1_1Landmark.html">rtabmap::Landmark</a></div><div class="ttdoc">Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00056">Landmark.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_a1c1e20cccc5f659743ba48c8afe1a8a0"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">rtabmap::Landmark::covariance</a></div><div class="ttdeci">const cv::Mat &amp; covariance() const</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00103">Landmark.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_a1fda87c27ac931dcf9815921b53c1f19"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19">rtabmap::Landmark::Landmark</a></div><div class="ttdeci">Landmark(const int &amp;id, const float &amp;size, const Transform &amp;pose, const cv::Mat &amp;covariance)</div><div class="ttdoc">Constructs a landmark with size, pose, and covariance.</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00072">Landmark.h:72</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_a2b5a5cbdb313813e3bb473a05b1145e2"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">rtabmap::Landmark::id</a></div><div class="ttdeci">const int &amp; id() const</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00097">Landmark.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_a6ba2b53d996e0fa62a8023917e515a06"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06">rtabmap::Landmark::Landmark</a></div><div class="ttdeci">Landmark()</div><div class="ttdoc">Default-constructs an invalid landmark (id == 0).</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00060">Landmark.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_ac6bfc77e153b0877c4c1cc3d97327a88"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">rtabmap::Landmark::pose</a></div><div class="ttdeci">const Transform &amp; pose() const</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00101">Landmark.h:101</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Landmark_html_acba351c01c619a0d78e52e7bfca94111"><div class="ttname"><a href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">rtabmap::Landmark::size</a></div><div class="ttdeci">const float &amp; size() const</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00099">Landmark.h:99</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a0d6a1985391a45de4fe208e58c51b9d2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2">rtabmap::Transform::isNull</a></div><div class="ttdeci">bool isNull() const</div><div class="ttdoc">Checks whether the transform is null (all zeros).</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_a12bbfd3e37121bf9f68a4047c8b4da86"><div class="ttname"><a href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">rtabmap::Landmarks</a></div><div class="ttdeci">std::map&lt; int, Landmark &gt; Landmarks</div><div class="ttdoc">Map of landmark id → Landmark (typically positive keys).</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00113">Landmark.h:113</a></div></div>
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